Path planning system for a work vehicle

ABSTRACT

A path planning system for a work vehicle includes a controller configured to determine an initial path between an end point of a first swath and a starting point of a second swath. In addition, the controller is configured to identify a restricted region positioned along the initial path and to determine, in response to identifying the restricted region positioned along the initial path, a first bounding point of the restricted region. Furthermore, the controller is configured to determine a first waypoint based on the first bounding point and to determine an updated path that intersects the first waypoint. The controller is also configured to output signal(s) indicative of the updated path and/or instructions to direct the work vehicle along the updated path.

BACKGROUND

The disclosure relates generally to a path planning system for a workvehicle.

Certain autonomous work vehicles are configured to traverse portions ofa field without operator input. For example, an autonomous work vehiclemay be configured to move an implement along swaths through anagricultural field to enable the implement to perform an agriculturaloperation (e.g., a planting operation, a seeding operation, a harvestingoperation, a tilling operation, a spraying operation, etc.) on theswaths. The swaths may extend along parallel paths through theagricultural field, and the autonomous work vehicle may be turned atheadlands to transition between swaths. The autonomous work vehicle maybe automatically controlled while traversing the swaths. However, due toobstacles (e.g., fences, building, etc.) within the headlands, theautonomous work vehicle may be manually controlled during the headlandturns to avoid the obstacles. Unfortunately, manually controlling thework vehicle may reduce the efficiency of the agricultural operation(e.g., because the operator may direct the work vehicle along aninefficient path between swaths).

BRIEF DESCRIPTION

In one embodiment, a path planning system for a work vehicle of a workvehicle system includes at least one controller having memory andprocessor(s). The controller(s) are configured to determine an initialpath between an end point of a first swath and a starting point of asecond swath. In addition, the controller(s) are configured to identifya restricted region positioned along the initial path and, in response,to determine a first bounding point of the restricted region. The firstbounding point corresponds to a location on a boundary of the restrictedregion having a maximum lateral distance from a first reference linesegment, and the first reference line segment connects a firstintersection point between the initial path and the boundary of therestricted region to a second intersection point between the initialpath and the boundary of the restricted region. Furthermore, thecontroller(s) are configured to determine a first waypoint based on thefirst bounding point and to determine an updated path that intersectsthe first waypoint. The controller(s) are also configured to output oneor more signals indicative of the updated path and/or instructions todirect the work vehicle along the updated path.

In another embodiment, one or more tangible, non-transitory,machine-readable media include instructions configured to cause aprocessor to determine an initial path between an end point of a firstswath and a starting point of a second swath. The instructions are alsoconfigured to cause the processor to identify a restricted regionpositioned along the initial path and to determine, in response toidentifying the restricted region positioned along the initial path, afirst bounding point of the restricted region. The first bounding pointcorresponds to a location on a boundary of the restricted region havinga maximum lateral distance from a first reference line segment, and thefirst reference line segment connects a first intersection point betweenthe initial path and the boundary of the restricted region to a secondintersection point between the initial path and the boundary of therestricted region. In addition, the instructions are configured to causethe processor to determine a first waypoint based on the first boundingpoint and to determine an updated path that intersects the firstwaypoint. The instructions are also configured to cause the processor tooutput one or more signals indicative of the updated path and/orinstructions to direct a work vehicle of a work vehicle system along theupdated path.

In a further embodiment, a method for planning a path for a work vehicleof a work vehicle system includes determining, via at least onecontroller, an initial path between an end point of a first swath and astarting point of a second swath. The method also includes identifying,via the controller(s), a restricted region positioned along the initialpath and determining, via the controller(s), a first bounding point ofthe restricted region in response to identifying the restricted regionpositioned along the initial path. The first bounding point correspondsto a location on a boundary of the restricted region having a maximumlateral distance from a first reference line segment, and the firstreference line segment connects a first intersection point between theinitial path and the boundary of the restricted region to a secondintersection point between the initial path and the boundary of therestricted region. In addition, the method includes determining, via thecontroller(s), a first waypoint based on the first bounding point anddetermining, via the controller(s), an updated path that intersects thefirst waypoint. The method also includes outputting, via thecontroller(s), one or more signals indicative of the updated path and/orinstructions to direct the work vehicle along the updated path.

DRAWINGS

These and other features, aspects, and advantages of the presentdisclosure will become better understood when the following detaileddescription is read with reference to the accompanying drawings in whichlike characters represent like parts throughout the drawings, wherein:

FIG. 1 is a perspective view of an embodiment of an autonomous workvehicle system including an autonomous work vehicle and an agriculturalimplement coupled to the autonomous work vehicle;

FIG. 2 is a block diagram of an embodiment of a control system that maybe employed within the autonomous work vehicle system of FIG. 1;

FIG. 3 is a schematic diagram of an embodiment of the autonomous workvehicle system within a field, in which an initial path connects an endpoint of a first swath with a starting point of a second swath;

FIG. 4 is a schematic diagram of the autonomous work vehicle system ofFIG. 3 within the field, in which a first updated path causes theautonomous work vehicle system to avoid a first portion of a restrictedregion;

FIG. 5 is a schematic diagram of the autonomous work vehicle system ofFIG. 3 within the field, in which a second updated path causes theautonomous work vehicle system to avoid the first portion and a secondportion of the restricted region; and

FIG. 6 is a flow diagram of an embodiment of a method for planning apath between an end point of a first swath and a starting point of asecond swath.

DETAILED DESCRIPTION

Turning now to the drawings, FIG. 1 is a perspective view of anembodiment of an autonomous work vehicle system 10 including anautonomous work vehicle 12 and an agricultural implement 14 coupled tothe autonomous work vehicle 12. The autonomous work vehicle 12 includesa control system configured to automatically guide the autonomous workvehicle system 10 through a field (e.g., along a direction of travel 16)to facilitate agricultural operations (e.g., spraying operations,planting operations, seeding operations, application operations, tillageoperations, harvesting operations, etc.). For example, the controlsystem may automatically guide the autonomous work vehicle system 10along a route through the field without input from an operator. Thecontrol system may also automatically guide the autonomous work vehiclesystem 10 around headland turns between segments of the route (e.g.,swaths).

In the illustrated embodiment, the agricultural implement 14 is asprayer assembly having a boom 18 and multiple spray heads distributedalong the boom. In addition, the autonomous work vehicle 12 includes atank 20 configured to store liquid product, such as fertilizer,herbicide, other products, or a combination thereof, for distribution tothe spray heads. The spray heads are configured to receive the productfrom the tank 20 and to apply the product to the field.

As illustrated, the autonomous work vehicle 12 also includes a frame 22,a cab 24, and a hood 26. The frame 22 provides structural support forthe cab 24, the hood 26, and the tank 20. Furthermore, the cab 24provides an enclosed space for an operator, and the hood 26 houses theengine and/or other systems configured to facilitate operation of theautonomous work vehicle 12. The autonomous work vehicle 12 also includeswheels 28 configured to support the frame 22, and to facilitate movementof the autonomous work vehicle 12 across the field. While a sprayerassembly is coupled to the autonomous work vehicle 12 in the illustratedembodiment, other agricultural implements may be coupled to theautonomous work vehicle in other embodiments. For example, in certainembodiments, a seeder, an air cart, a mower, a tillage tool, or acombination thereof, among other suitable agricultural implements, maybe coupled to (e.g., towed by, supported by, etc.) the autonomous workvehicle.

In certain embodiments, the autonomous work vehicle 12 includes a pathplanning system/control system configured to automatically determine apath between an end point of a first swath and a starting point of asecond swath, and to instruct a movement control system of the workvehicle to direct the work vehicle along the path. As discussed indetail below, the path planning system includes at least one controllerconfigured to determine an initial path between the end point of thefirst swath and the starting point of the second swath. Thecontroller(s) are also configured to identify a restricted regionpositioned along the initial path. In addition, the controller(s) areconfigured to determine a bounding point of the restricted region inresponse to identifying the restricted region positioned along theinitial path. The bounding point corresponds to a location on a boundaryof the restricted region having a maximum lateral distance from areference line segment, and the reference line segment connects a firstintersection point between the initial path and the boundary of therestricted region to a second intersection point between the initialpath and the boundary of the restricted region. Furthermore, thecontroller(s) are configured to determine a waypoint based on thebounding point, and to determine an updated path that intersects thewaypoint. The controller(s) are also configured to instruct the movementcontrol system to direct the work vehicle along the updated path.Because the path control system is configured to determine a path thatcauses the work vehicle system to avoid the restricted region, the workvehicle may be automatically controlled through a headland turn, therebyincreasing the efficiency of agricultural operations (e.g., as comparedto manually controlling the work vehicle through the headland turn).

FIG. 2 is a block diagram of an embodiment of a control system 36 (e.g.,path planning system) that may be employed within the autonomous workvehicle system 10 of FIG. 1. In the illustrated embodiment, the controlsystem 36 includes a spatial locating device 38, which is mounted to theautonomous work vehicle 12 and configured to determine a position and,in certain embodiments, a velocity of the autonomous work vehicle 12.The spatial locating device 38 may include any suitable systemconfigured to measure and/or determine the position of the autonomouswork vehicle 12, such as a GPS receiver, for example.

In the illustrated embodiment, the control system 36 includes a movementcontrol system 42 having a steering control system 44 configured tocontrol a direction of movement of the autonomous work vehicle 12, andthe movement control system 42 may include a speed control system 46configured to control a speed of the autonomous work vehicle 12. Inaddition, the control system 36 includes a controller 48, which iscommunicatively coupled to the spatial locating device 38, to thesteering control system 44, and to the speed control system 46. Thecontroller 48 is configured to automatically control the autonomous workvehicle at least during certain phases of agricultural operations (e.g.,without operator input, with limited operator input, etc.).

In certain embodiments, the controller 48 is an electronic controllerhaving electrical circuitry configured to process data from the spatiallocating device 38 and/or other components of the control system 36. Inthe illustrated embodiment, the controller 48 include a processor, suchas the illustrated microprocessor 50, and a memory device 52. Thecontroller 48 may also include one or more storage devices and/or othersuitable components. The processor 50 may be used to execute software,such as software for controlling the autonomous work vehicle, softwarefor determining a position of an obstacle, and so forth. Moreover, theprocessor 50 may include multiple microprocessors, one or more“general-purpose” microprocessors, one or more special-purposemicroprocessors, and/or one or more application specific integratedcircuits (ASICS), or some combination thereof. For example, theprocessor 50 may include one or more reduced instruction set (RISC)processors.

The memory device 52 may include a volatile memory, such as randomaccess memory (RAM), and/or a nonvolatile memory, such as read-onlymemory (ROM). The memory device 52 may store a variety of informationand may be used for various purposes. For example, the memory device 52may store processor-executable instructions (e.g., firmware or software)for the processor 50 to execute, such as instructions for controllingthe autonomous work vehicle, instructions for planning a path of theautonomous work vehicle, and so forth. The storage device(s) (e.g.,nonvolatile storage) may include ROM, flash memory, a hard drive, or anyother suitable optical, magnetic, or solid-state storage medium, or acombination thereof. The storage device(s) may store data (e.g.,position data, vehicle geometry data, etc.), instructions (e.g.,software or firmware for controlling the autonomous work vehicle, etc.),and any other suitable data.

In certain embodiments, the steering control system 44 may include awheel angle control system, a differential braking system, a torquevectoring system, or a combination thereof. The wheel angle controlsystem may automatically rotate one or more wheels and/or tracks of theautonomous work vehicle (e.g., via hydraulic actuators) to steer theautonomous work vehicle along a target route (e.g., along a guidanceswath, along headline turns, etc.). By way of example, the wheel anglecontrol system may rotate front wheels/tracks, rear wheels/tracks,intermediate wheels/tracks, or a combination thereof, of the autonomouswork vehicle (e.g., either individually or in groups). The differentialbraking system may independently vary the braking force on each lateralside of the autonomous work vehicle to direct the autonomous workvehicle along a path. In addition, the torque vectoring system maydifferentially apply torque from an engine to wheel(s) and/or track(s)on each lateral side of the autonomous work vehicle, thereby directingthe autonomous work vehicle along a path. In further embodiments, thesteering control system may include other and/or additional systems tofacilitate directing the autonomous work vehicle along a path throughthe field.

In certain embodiments, the speed control system 46 may include anengine output control system, a transmission control system, a brakingcontrol system, or a combination thereof. The engine output controlsystem may vary the output of the engine to control the speed of theautonomous work vehicle. For example, the engine output control systemmay vary a throttle setting of the engine, a fuel/air mixture of theengine, a timing of the engine, other suitable engine parameters tocontrol engine output, or a combination thereof. In addition, thetransmission control system may adjust a gear ratio of a transmission(e.g., by adjusting gear selection in a transmission with discretegears, by controlling a continuously variable transmission (CVT), etc.)to control the speed of the autonomous work vehicle. Furthermore, thebraking control system may adjust braking force, thereby controlling thespeed of the autonomous work vehicle. In further embodiments, the speedcontrol system may include other and/or additional systems to facilitateadjusting the speed of the autonomous work vehicle.

In certain embodiments, the control system may also control operation ofthe agricultural implement coupled to the autonomous work vehicle. Forexample, the control system may include an implement controlsystem/implement controller configured to control a steering angle ofthe implement (e.g., via an implement steering control system having awheel angle control system and/or a differential braking system) and/ora speed of the autonomous work vehicle system (e.g., via an implementspeed control system having a braking control system). In suchembodiments, the autonomous work vehicle control system may becommunicatively coupled to a control system/controller on the implementvia a communication network, such as a controller area network (CANbus).

In the illustrated embodiment, the control system 36 includes a userinterface 54 communicatively coupled to the controller 48. The userinterface 54 is configured to enable an operator to control certainparameter(s) associated with operation of the autonomous work vehicle.For example, the user interface 54 may include a switch that enables theoperator to selectively configure the autonomous work vehicle forautonomous or manual operation. In addition, the user interface 54 mayinclude a battery cut-off switch, an engine ignition switch, a stopbutton, or a combination thereof, among other controls. In certainembodiments, the user interface 54 includes a display 56 configured topresent information to the operator, such as a graphical representationof a swath, a visual representation of certain parameter(s) associatedwith operation of the autonomous work vehicle (e.g., fuel level, oilpressure, water temperature, etc.), a visual representation of certainparameter(s) associated with operation of the agricultural implementcoupled to the autonomous work vehicle (e.g., product flow rate, productquantity remaining in tank, penetration depth of ground engaging tools,orientation(s)/position(s) of certain components of the implement,etc.), or a combination thereof, among other information. In certainembodiments, the display 56 may include a touch screen interface thatenables the operator to control certain parameters associated withoperation of the autonomous work vehicle and/or the agriculturalimplement.

In the illustrated embodiment, the control system 36 includes manualcontrols 58 configured to enable an operator to control the autonomouswork vehicle while automatic control is disengaged (e.g., whileunloading the autonomous work vehicle from a trailer, etc.). The manualcontrols 58 may include manual steering control, manual transmissioncontrol, manual braking control, or a combination thereof, among othercontrols. In the illustrated embodiment, the manual controls 58 arecommunicatively coupled to the controller 48. The controller 48 isconfigured to disengage automatic control of the autonomous work vehicleupon receiving a signal indicative of manual control of the autonomouswork vehicle. Accordingly, if an operator controls the autonomous workvehicle manually, the automatic control terminates, thereby enabling theoperator to control the autonomous work vehicle.

In the illustrated embodiment, the control system 36 includes atransceiver 60 communicatively coupled to the controller 48. In certainembodiments, the transceiver 60 is configured to establish acommunication link with a corresponding transceiver of a base station,thereby facilitating communication between the base station and thecontrol system of the autonomous work vehicle. For example, the basestation may include a user interface that enables a remote operator toprovide instructions to the control system (e.g., instructions toinitiate automatic control of the autonomous work vehicle, instructionsto direct the autonomous work vehicle along a route, etc.). The userinterface may also enable a remote operator to provide data to thecontrol system. The transceiver 60 may operate at any suitable frequencyrange within the electromagnetic spectrum. For example, in certainembodiments, the transceiver 60 may broadcast and receive radio waveswithin a frequency range of about 1 GHz to about 10 GHz. In addition,the transceiver 60 may utilize any suitable communication protocol, suchas a standard protocol (e.g., Wi-Fi, Bluetooth, etc.) or a proprietaryprotocol.

In certain embodiments, the control system may include other and/oradditional controllers/control systems, such as the implementcontroller/control system discussed above. For example, the implementcontroller/control system may be configured to control variousparameters of an agricultural implement towed by the autonomous workvehicle. In certain embodiments, the implement controller/control systemmay be configured to instruct one or more valves to control product flowto the spray heads of the sprayer assembly. Furthermore, the implementcontroller/control system may instruct actuator(s) to transition theagricultural implement between a working position and a transportportion, to control a penetration depth of a ground engaging tool, or toadjust a position of a header of the agricultural implement (e.g., aharvester, etc.), among other operations. The autonomous work vehiclecontrol system may also include controller(s)/control system(s) forelectrohydraulic remote(s), power take-off shaft(s), adjustablehitch(es), or a combination thereof, among other controllers/controlsystems.

In certain embodiments, the controller 48 is configured to direct theautonomous work vehicle 12 along multiple swaths through a field. Inaddition, the controller is configured to plan a path between swaths andto direct the work vehicle along the planned path. In certainembodiments, the controller 48 is configured to determine an initialpath of the work vehicle 12 between an end point of a first swath and astarting point of a second swath. The controller 48 is also configuredto identify a restricted region positioned along the initial path. Inaddition, the controller 48 is configured to determine a bounding pointof the restricted region in response to identifying the restrictedregion positioned along the initial path. The bounding point correspondsto a location on a boundary of the restricted region having a maximumlateral distance from a reference line segment, and the reference linesegment connects a first intersection point between the initial path andthe boundary of the restricted region to a second intersection pointbetween the initial path and the boundary of the restricted region.Furthermore, the controller 48 is configured to determine a waypointbased on the bounding point, and to determine an updated path thatintersects the waypoint. The controller 48 is also configured to outputone or more signals indicative of instructions to direct the workvehicle 12 along the updated path. For example, the controller 48 may beconfigured to output one or more signals to the movement control system42 indicative of instructions to direct the work vehicle 12 along theupdated path. Because the controller is configured to determine a paththat causes the work vehicle system to avoid the restricted region, thework vehicle may be automatically controlled through a headland turn,thereby increasing the efficiency of agricultural operations (e.g., ascompared to manually controlling the work vehicle through the headlandturn).

While the autonomous work vehicle controller plans the path betweenswaths and outputs one or more signals indicative of instructions todirect the work vehicle along the planned path in the illustratedembodiment, in alternative embodiments, the path between swaths may beplanned and/or one or more signals (e.g., indicative of the path and/orinstructions to direct the work vehicle along the path) may be output byone or more other controllers. For example, in certain embodiments, abase station controller may determine the path between swaths and outputone or more signals indicative of the path to the work vehiclecontroller (e.g., via respective transceivers). The work vehiclecontroller may then instruct the movement control system to direct thework vehicle along the planned path. In further embodiments, the basestation controller may determine the path between swaths and output oneor more signals (e.g., via respective transceivers, via the autonomouswork vehicle controller, etc.) indicative of instructions to direct thework vehicle along the planned path.

FIG. 3 is a schematic diagram of an embodiment of the autonomous workvehicle system 10 within a field 62, in which an initial path connectsan end point of a first swath with a starting point of a second swath.In the illustrated embodiment, the work vehicle system 10 is configuredto perform an agricultural operation (e.g., a spraying operation, atilling operation, a seeding operation, a planting operation, aharvesting operation, etc.) on the agricultural field 62. Accordingly,the work vehicle 12 is configured to move the implement 14 through thefield 62 along multiple swaths 64. The position, orientation, and lengthof each swath 64 may be determined by a route planning system (e.g.,including the vehicle controller, a base station controller, or acombination thereof). The route planning system may establish swathsthat cover a substantial portion of the field 62, and the work vehiclecontroller may direct the work vehicle along each of the swaths (e.g.,by outputting instructions to the movement control system of the workvehicle). As illustrated, the solid lines represent swaths 64 that havebeen traversed by the work vehicle system 10, and the dashed linesrepresent swaths 64 that have been established but not traversed.

In the illustrated embodiment, a controller (e.g., the work vehiclecontroller) of a path planning system is configured to determine aninitial path 66 between an end point 68 of a first swath 70 and astarting point 72 of a second swath 74. For example, the controller maydetermine the initial path 66 by establishing a clothoid curve thatextends through the end point 68 of the first swath 70 and the startingpoint 72 of the second swath 74. The initial path may be continuous orsubstantially continuous, and the initial path may be based on thecapabilities of the work vehicle system (e.g., minimum turn radius,etc.). As illustrated, the initial path 66 extends through a restrictedregion 76 of the field 62. The restricted region 76 represents a portionof the field to be avoided by the work vehicle system 10. For example,the restricted region 76 may correspond to an area of the field havingrough terrain, a fence or other boundary within the field, or abuilding, among other objects/field conditions. The restricted regionmay also correspond to a portion of the field covered by the swaths 64(e.g., a portion of the field covered by crops, a tilled portion of thefield, etc.). The position and shape of the restricted region may bestored in the memory device of the controller. For example, therestricted region may be represented as a series of vertices connectedby line segments, and the position of each vertex may be stored in thememory device of the controller.

If the restricted region 76 is positioned along the initial path 66, thecontroller is configured to identify the restricted region 76. Forexample, the controller may compare the track of the initial path 66(e.g., the area swept by the work vehicle system along the initial path)to the area covered by the restricted region 76, and the controller mayidentify the restricted region 76 positioned along the initial path 66based on an intersection of the track of the initial path 66 and therestricted region 76. If the controller does not identify a restrictedregion within the initial path of the work vehicle system, thecontroller may instruct the movement control system of the work vehicleto direct the work vehicle along the initial path, and/or the controllermay output one or more signals indicative of the path (e.g., to anothercontroller configured to provide instructions to direct the work vehiclealong the initial path).

In response to identifying the restricted region 76 along the initialpath, the controller determines a first bounding point 78 of therestricted region 76. The first bounding point corresponds to a locationon the boundary of the restricted region 76 having a maximum lateraldistance the from a first reference line segment 83, and the firstreference line segment 83 connects a first intersection point 79 betweenthe initial path 66 and the boundary of the restricted region 76 to asecond intersection point 81 between the initial path 66 and theboundary of the restricted region 76. In the illustrated embodiment, theboundary of the restricted region is formed from multiple verticesconnected by line segments. Accordingly, the first bounding point 78corresponds to one vertex of the restricted region vertices having amaximum lateral distance from the first reference line segment 83. Incertain embodiments, the bounding point may only be selected fromboundary locations (e.g., vertices) on the same side of the firstreference line segment 83 as the first swath 70 and the second swath 74.As illustrated, the first swath 70 and the second swath 74 arepositioned on a first side 80 of the first reference line segment 83,and a first vertex 82 and a second vertex 84 of the restricted regionvertices are positioned on the first side 80 of the first reference linesegment 83. In addition, a third vertex 86 and a fourth vertex 88 arepositioned on a second side 90 of the first reference line segment 83.Accordingly, to establish an updated path extending along the swath sideof the restricted region 76, one of the vertices on the first side 80 ofthe first reference line segment 83 may be selected as the boundingpoint (e.g., the third and fourth vertices may be excluded from thecandidate vertices). In addition, to establish an updated path extendingaround the restricted region 76, one of the vertices on the second side90 of the first reference line segment 83 may be selected as thebounding point (e.g., the first and second vertices may be excluded fromthe candidate vertices). In the illustrated embodiment, because thedistance between the restricted region 76 and the swaths 64 issufficient to enable the work vehicle system to move through a regionbetween the restricted region 76 and the swaths 64, the first boundingpoint is selected from one of the boundary locations (e.g., vertices) onthe first side 80 of the first reference line segment 83. However, ifthe distance between the restricted region and the swaths wereinsufficient to facilitate passage of the work vehicle system throughthe region between the restricted region and the swaths, the firstbounding point may be selected from one of the boundary locations (e.g.,vertices) on the second side 90 of the first reference line segment 83.

As illustrated, the first vertex 82 is positioned a first lateraldistance 92 from the first reference line segment 83, and the secondvertex 84 is positioned a second lateral distance 94 from the firstreference line segment 83. As used herein, “lateral distance” refers tothe distance away from a path/line segment along a lateral axis thatextends perpendicularly to the path/line segment. In the illustratedembodiment, the first lateral distance 92 is greater than the secondlateral distance 94. Accordingly, the first vertex 82 is selected as thefirst bounding point 78.

Once the first bounding point 78 is determined, the controllerdetermines a first waypoint 96 based on the first bounding point 78. Inthe illustrated embodiment, the first waypoint 96 is positionedoutwardly from the bounding point 78 relative to the first referenceline segment 83. For example, the first waypoint 96 may be positionedalong a line that bisects an angle between a first line segment 93,which extends between the first vertex 82 and the third vertex 86, and asecond line segment 95, which extends between the first vertex 82 andthe second vertex 84. In the illustrated embodiment, a distance 98between the first bounding point 78 and the first waypoint 96 is greaterthan or equal to half of a lateral extent of the work vehicle system(e.g., the maximum extent of the work vehicle system along a lateralaxis of the work vehicle system). Accordingly, while the work vehiclesystem is positioned at the first waypoint 96, the work vehicle systemdoes not overlap the restricted region 76. While the first waypoint 96is laterally and longitudinally offset from the first bounding point 78,the first waypoint may be positioned in other suitable locations inalternative embodiments. For example, the first waypoint may be onlylaterally offset from the first bounding point, or the first waypointmay be only longitudinally offset from the first bounding point. Oncethe first waypoint 96 is determined, the controller determines anupdated path (e.g., first updated path) that intersects the firstwaypoint 96. For example, the controller may determine the updated pathby establishing a clothoid curve that extends through the end point 68of the first swath 70, the starting point 72 of the second swath 74, andthe first waypoint 96. The updated path may be continuous orsubstantially continuous, and the updated path may be based on thecapabilities of the work vehicle system (e.g., minimum turn radius,etc.).

As used herein with regard to points (e.g., waypoints), “intersect” and“extend through” refer to a path that directly intersects a point orpasses within a threshold range of the point. The threshold range may beselected based on the technique used to establish the path (e.g.,establishing a clothoid curve, etc.).

FIG. 4 is a schematic diagram of the autonomous work vehicle system 10of FIG. 3 within the field 62, in which a first updated path 98 (e.g.,updated path) causes the autonomous work vehicle system 10 to avoid afirst portion 100 of the restricted region 76. As illustrated, the firstupdated path 98 intersects the first waypoint 96, thereby positioningthe first updated path 98 a sufficient distance from the first boundingpoint 78 to enable the work vehicle system 10 to avoid the restrictedregion 76 at the first bounding point 78. If the controller does notidentify any portion of the restricted region within the first updatedpath of the work vehicle system, the controller may instruct themovement control system of the work vehicle to direct the work vehiclealong the first updated path, and/or the controller may output one ormore signals indicative of the first updated path (e.g., to anothercontroller configured to provide instructions to direct the work vehiclealong the first updated path). However, if another portion of therestricted region 76 is positioned along the first updated path 98, asillustrated, the controller is configured to identify the restrictedregion 76. For example, the controller may compare the track of thefirst updated path 98 (e.g., the area swept by the work vehicle systemalong the first updated path) to the area covered by the restrictedregion 76, and the controller may identify the restricted region 76positioned along the first updated path 98 based on an intersection ofthe track of the first updated path 98 and the restricted region 76.

In response to identifying the restricted region 76 along the firstupdated path, the controller determines a second bounding point 102 ofthe restricted region 76. The second bounding point corresponds to alocation on the boundary of the restricted region 76 having a maximumlateral distance from a second reference line segment 101, and thesecond reference line segment 101 connects a first intersection point 99between the first updated path 98 and the boundary of the restrictedregion 76 to a second intersection point 103 between the first updatedpath 98 and the boundary of the restricted region 76. In the illustratedembodiment, the boundary of the restricted region is formed frommultiple vertices connected by line segments. Accordingly, the secondbounding point 102 corresponds to one vertex of the restricted regionvertices having a maximum lateral distance from the second referenceline segment 101. In certain embodiments, the second bounding point mayonly be selected from boundary locations on the same side of the firstreference line segment as the first swath 70 and the second swath 74.For example, the second bounding point may only be selected from the setof vertices from which the first bounding point 78 is selected. Aspreviously discussed, the first bounding point 78 is selected from theset of vertices consisting of the first vertex 82 and the second vertex84. Accordingly, the second bounding point 102 may be selected from thesame set of vertices (e.g., the first vertex 82 and the second vertex84). In addition, the boundary location (e.g., vertex) corresponding tothe first bounding point may be excluded from the candidate boundarylocations (e.g., set of vertices from which the first bounding point isselected) because the first updated path already causes the autonomouswork vehicle system to avoid the restricted region 76 at the firstbounding point 78. Therefore, in the illustrated embodiment, the secondvertex 84 is selected as the second bounding point 102. However, if therestricted region 76 included additional vertices within the set ofvertices from which the first bounding point is selected, the lateraldistance 104 of the second vertex 84 from the second reference linesegment 101 would be compared to the lateral distance(s) of one or moreother vertices, and the vertex having the greatest lateral distance fromthe second reference line segment would be selected as the secondbounding point.

In further embodiments, the second bounding point may be selected fromanother set of boundary locations (e.g., vertices). For example, thesecond bounding point may be selected from the set of boundary locations(e.g., vertices) on the same side of the second reference line segment101 as the swath 64. In further embodiments, the second bound point maybe selected from all of the boundary locations (e.g., vertices) of therestricted region.

Once the second bounding point 102 is determined, the controllerdetermines a second waypoint 106 based on the second bounding point 102.In the illustrated embodiment, the second waypoint 106 is positionedoutwardly from the second bounding point 102 relative to the secondreference line segment 101. For example, the second waypoint 106 may bepositioned along a line that bisects an angle between the second linesegment 95, which extends between the first vertex 82 and the secondvertex 84, and a third line segment 105, which extends between thesecond vertex 84 and the fourth vertex 88. In the illustratedembodiment, a distance 108 between the second bounding point 102 and thesecond waypoint 106 is greater than or equal to half of the lateralextent of the work vehicle system (e.g., the maximum extent of the workvehicle system along the lateral axis of the work vehicle system).Accordingly, while the work vehicle system is positioned at the secondwaypoint 106, the work vehicle system does not overlap the restrictedregion 76. While the second waypoint 106 is laterally and longitudinallyoffset from the second bounding point 102, the second waypoint may bepositioned in other suitable locations in alternative embodiments. Forexample, the second waypoint may be only laterally offset from thesecond bounding point, or the second waypoint may be only longitudinallyoffset from the second bounding point. Once the second waypoint 106 isdetermined, the controller determines a second updated path (e.g.,updated path) that intersects the second waypoint 106. For example, thecontroller may determine the second updated path by establishing aclothoid curve that extends through the end point 68 of the first swath70, the starting point 72 of the second swath 74, the first waypoint 96,and the second waypoint 106. The second updated path may be continuousor substantially continuous, and the second updated path may be based onthe capabilities of the work vehicle system (e.g., minimum turn radius,etc.).

FIG. 5 is a schematic diagram of the autonomous work vehicle system 10of FIG. 3 within the field 62, in which a second updated path 110 (e.g.,updated path) causes the autonomous work vehicle system 10 to avoid thefirst portion 100 and a second portion 112 of the restricted region 76.As illustrated, the second updated path 110 intersects the firstwaypoint 96, thereby positioning the second updated path 110 asufficient distance from the first bounding point 78 to enable the workvehicle system 10 to avoid the restricted region 76 at the firstbounding point 78. In addition, the second updated path 110 intersectsthe second waypoint 106, thereby positioning the second updated path 110a sufficient distance from the second bounding point 102 to enable thework vehicle system 10 to avoid the restricted region 76 at the secondbounding point 102. Because the second updated path causes theautonomous work vehicle system to avoid the restricted region, thecontroller instructs the movement control system of the work vehicle todirect the work vehicle along the second updated path 110, and/or thecontroller outputs one or more signals indicative of the second updatedpath (e.g., to another controller configured to provide instructions todirect the work vehicle along the second updated path). However, ifanother portion of the restricted region 76 were positioned along thesecond updated path, the controller would repeat the steps disclosedabove to establish a third updated path. This process would continueuntil an updated path that causes the autonomous work vehicle system toavoid the restricted region is established or a maximum number ofiterations is reached (e.g., five iterations, etc.). If the maximumnumber of iterations is reached, the path planning system may inform anoperator that the maximum number of iterations is reached. Because thepath control system is configured to determine a path that causes theautonomous work vehicle system to avoid the restricted region, the workvehicle may be automatically controlled through a headland turn, therebyincreasing the efficiency of agricultural operations (e.g., as comparedto manually controlling the work vehicle through the headland turn).

While each of the initial path and the first updated path intersects theboundary of the restricted region at two points, in further embodiments,the initial path and/or the first updated path may intersect theboundary at more than two points (e.g., four points, six points, etc.).In such embodiments, the first reference line segment may connect thefirst two intersection points closest to the end point of the firstswath. Furthermore, while the embodiments disclosed above include arestricted region with four vertices, in alternative embodiments, therestricted region may include more or fewer vertices. In addition, whilethe initial path and the updated path connect parallel rows through aheadland turn in the illustrated embodiment, in further embodiments, theinitial/updated path may connect other rows (e.g., perpendicular rows)through other portions of the agricultural operation (e.g., connecting arow of one partition to a row of another partition). Furthermore, incertain embodiments, the restricted region may include multiple portionsseparated from one another by a gap. For example, an obstacle within theheadland may form a first portion of the restricted region, the area ofthe field covered by swaths may form a second portion of the restrictedregion, and the first portion and the second portion may be separatedfrom one another by a gap. In such embodiments, the path planning systemmay be configured to establish an updated path that extends through thegap between the portions of the restricted region. In addition, whileagricultural operations are disclosed above, it should be appreciatedthat the path planning system and method disclosed herein may beutilized for other autonomous work vehicle operations, such asconstruction operations.

FIG. 6 is a flow diagram of an embodiment of a method 114 for planning apath between an end point of a first swath and a starting point of asecond swath. First, as represented by block 116, an initial pathbetween an end point of a first swath and a starting point of a secondswath is determined. For example, the initial path may be determined byestablishing a clothoid curve that extends through the end point of thefirst swath and the starting point of the second swath. Next, adetermination is made regarding whether a restricted region ispositioned along the initial path, as represented by block 118. If norestricted region is positioned along the initial path, one or moresignals indicative of the initial path and/or instructions to direct thework vehicle along the initial path are output, as represented by block120.

However, in response to identifying the restricted region positionedalong the initial path, a first bounding point of the restricted regionis determined, as represented by block 122. As previously discussed, thefirst bounding point corresponds to a location on the boundary of therestricted region having a maximum lateral distance from a firstreference line segment, and the first reference line segment connects afirst intersection point between the initial path and the boundary ofthe restricted region to a second intersection point between the initialpath and the boundary of the restricted region. For example, the firstbounding point may correspond to one vertex of the vertices of therestricted region having a maximum lateral distance from the firstreference line segment. In certain embodiments, the first bounding pointmay only be selected from boundary locations (e.g., vertices) on thesame side of the first reference line segment as the first swath and thesecond swath. Next, as represented by block 124, a first waypoint isdetermined based on the first bounding point. In certain embodiments, adistance between the first waypoint and the first bounding point isgreater than or equal to half of a lateral extent of the work vehiclesystem. As represented by block 126, an updated path that intersects thefirst waypoint is then determined. For example, the updated path may bedetermined by establishing a clothoid curve that extends through the endpoint of the first swath, the starting point of the second swath, andthe first waypoint.

A determination is then made regarding whether the restricted region ispositioned along the updated path, as represented by block 128. If therestricted region is not positioned along the updated path, the one ormore signals indicative of the updated path and/or instructions todirect the work vehicle along the updated path are output, asrepresented by block 120. However, in response to identifying therestricted region positioned along the updated path, a second boundingpoint of the restricted region is determined, as represented by block130. As previously discussed, the second bounding point corresponds to alocation on the boundary of the restricted region having a maximumlateral distance from a second reference line segment, and the secondreference line segment connects a first intersection point between theupdated path and the boundary of the restricted region to a secondintersection point between the updated path and the boundary of therestricted region. For example, the first bounding point may correspondto one vertex of the vertices of the restricted region having a maximumlateral distance from the second reference line segment. In certainembodiments, the second bounding point may only be selected fromboundary locations (e.g., vertices) on the same side of the secondreference line segment as the first swath and the second swath. Next, asrepresented by block 132, a second waypoint is determined based on thesecond bounding point. In certain embodiments, a distance between thesecond waypoint and the second bounding point is greater than or equalto half of the lateral extent of the work vehicle system. As representedby block 134, the updated path is updated such that the updated pathintersects the first waypoint and the second waypoint. For example, theupdated path may be determined by establishing a clothoid curve thatextends through the end point of the first swath, the starting point ofthe second swath, the first waypoint, and the second waypoint. Incertain embodiments, the steps corresponding to blocks 128-134 arerepeated until the restricted region is not positioned along the updatedpath. One or more signals indicative of the updated path and/orinstructions to direct the work vehicle along the updated path are thenoutput, as represented by block 120.

In certain embodiments, the method 114 disclosed above is performed bythe work vehicle controller and/or a base station controller. Inaddition, the steps of the method 114 may be performed in the orderdisclosed above, or the steps may be performed in a different order.Furthermore, in certain embodiments, certain steps of the method 114 maybe omitted.

While only certain features have been illustrated and described herein,many modifications and changes will occur to those skilled in the art.It is, therefore, to be understood that the appended claims are intendedto cover all such modifications and changes as fall within the truespirit of the disclosure.

The invention claimed is:
 1. A path planning system for a work vehicleof a work vehicle system, comprising: at least one controller comprisinga memory and a processor, wherein the at least one controller isconfigured to: determine a path between an end point of a first swathand a starting point of a second swath; perform an iterative processuntil a stop condition is reached, wherein the iterative processcomprising: identifying a restricted region positioned along the path;determining, in response to identifying the restricted region positionedalong the path, a bounding point of the restricted region, wherein thebounding point corresponds to a location on a boundary of the restrictedregion having a maximum lateral distance from a reference line segment,and the reference line segment connects a first intersection pointbetween the path and the boundary of the restricted region to a secondintersection point between the path and the boundary of the restrictedregion; determining only one waypoint of one or more waypoints, whereinthe one waypoint is determined based on the bounding point; and updatingthe path to intersect each waypoint of the one or more waypoints; andoutput one or more signals indicative of the path, instructions todirect the work vehicle along the path, or a combination thereof;wherein the stop condition comprises determining that the restrictedregion is not positioned along the path.
 2. The path planning system ofclaim 1, wherein a distance between each waypoint of the one or morewaypoints and a respective bounding point is greater than or equal tohalf of a lateral extent of the work vehicle system.
 3. The pathplanning system of claim 1, wherein the stop condition comprisesdetermining that a maximum number of iterations is reached.
 4. The pathplanning system of claim 1, wherein the bounding point is selected froma plurality of vertices of the restricted region, and the location onthe boundary of the restricted region having the maximum lateraldistance from the reference line segment corresponds to one vertex ofthe plurality of vertices having the maximum lateral distance from thereference line segment.
 5. The path planning system of claim 4, whereinthe first swath and the second swath are positioned on a first lateralside of the reference line segment, and one or more vertices of theplurality of vertices on a second lateral side of the reference linesegment, opposite the first lateral side, are excluded from theplurality of vertices while determining the bounding point.
 6. The pathplanning system of claim 1, wherein the at least one controller isconfigured to output the one or more signals to a movement controlsystem of the work vehicle if the one or more signals are indicative ofinstructions to direct the work vehicle along the path, and the movementcontrol system comprises a speed control system, a steering controlsystem, or a combination thereof.
 7. One or more tangible,non-transitory, machine-readable media comprising instructionsconfigured to cause a processor to: determine a path between an endpoint of a first swath and a starting point of a second swath; performan iterative process until a stop condition is reached, wherein theiterative process comprises: identifying a restricted region positionedalong the path; determining, in response to identifying the restrictedregion positioned along the path, a bounding point of the restrictedregion, wherein the bounding point corresponds to a location on aboundary of the restricted region having a maximum lateral distance froma reference line segment, and the reference line segment connects afirst intersection point between the path and the boundary of therestricted region to a second intersection point between the path andthe boundary of the restricted region; determining only one waypoint ofone or more waypoints, wherein the one waypoint is determined based onthe bounding point; and updating the path to intersect each waypoint ofthe one or more waypoints; and output one or more signals indicative ofthe path, instructions to direct a work vehicle of a work vehicle systemalong the path, or a combination thereof; wherein the stop conditioncomprises determining that the restricted region is not positioned alongthe path.
 8. The one or more tangible, non-transitory, machine-readablemedia of claim 7, wherein a distance between each waypoint of the one ormore waypoints and a respective bounding point is greater than or equalto half of a lateral extent of the work vehicle system.
 9. The one ormore tangible, non-transitory, machine-readable media of claim 7,wherein the stop condition comprises determining that a maximum numberof iterations is reached.
 10. The one or more tangible, non-transitory,machine-readable media of claim 7, wherein the bounding point isselected from a plurality of vertices of the restricted region, and thelocation on the boundary of the restricted region having the maximumlateral distance from the reference line segment corresponds to onevertex of the plurality of vertices having the maximum lateral distancefrom the reference line segment.
 11. The one or more tangible,non-transitory, machine-readable media of claim 10, wherein the firstswath and the second swath are positioned on a first lateral side of thereference line segment, and one or more vertices of the plurality ofvertices on a second lateral side of the reference line segment,opposite the first lateral side, are excluded from the plurality ofvertices while determining the bounding point.
 12. The one or moretangible, non-transitory, machine-readable media of claim 7, wherein theinstructions are configured to cause the processor to output the one ormore signals to a movement control system of the work vehicle if the oneor more signals are indicative of instructions to direct the workvehicle along the path, and the movement control system comprises aspeed control system, a steering control system, or a combinationthereof.
 13. A method for planning a path for a work vehicle of a workvehicle system, comprising: determining, via at least one controller, apath between an end point of a first swath and a starting point of asecond swath; performing, via the at least one controller, an iterativeprocess until a stop condition is reached, wherein the iterative processcomprising: identifying a restricted region positioned along the path;determining a bounding point of the restricted region in response toidentifying the restricted region positioned along the path, wherein thebounding point corresponds to a location on a boundary of the restrictedregion having a maximum lateral distance from a reference line segment,and the reference line segment connects a first intersection pointbetween the path and the boundary of the restricted region to a secondintersection point between the path and the boundary of the restrictedregion; determining only one waypoint of one or more waypoint, whereinthe one waypoint is determined based on the bounding point; and updatingthe path to intersect each waypoint of the one or more waypoints; andoutputting, via the at least one controller, one or more signalsindicative of the path, instructions to direct the work vehicle alongthe path, or a combination thereof; wherein the stop condition comprisesdetermining that the restricted region is not positioned along the path.14. The method of claim 13, wherein a distance between each waypoint ofthe one or more waypoints and a respective bounding point is greaterthan or equal to half of a lateral extent of the work vehicle system.15. The method of claim 13, wherein the stop condition comprisesdetermining that a maximum number of iterations is reached.
 16. Themethod of claim 13, wherein the bounding point is selected from aplurality of vertices of the restricted region, and the location on theboundary of the restricted region having the maximum lateral distancefrom the reference line segment corresponds to one vertex of theplurality of vertices having the maximum lateral distance from thereference line segment.
 17. The method of claim 16, wherein the firstswath and the second swath are positioned on a first lateral side of thereference line segment, and one or more vertices of the plurality ofvertices on a second lateral side of the reference line segment,opposite the first lateral side, are excluded from the plurality ofvertices while determining the bounding point.